#include <ros/ros.h>
#include "perception/costmap_2d/costmap_2d_ros.h"
#include <tf2_ros/transform_listener.h>

int main(int argc, char** argv){
    string glog_dir = ros::param::param<string>("/glog_dir", "/home/xxty/user_config/logs");
    common::glog::init(glog_dir, "costmap_ros");

    ros::init(argc, argv, "costmap_ros_node");
    tf2_ros::Buffer buffer(ros::Duration(10));
    tf2_ros::TransformListener tf(buffer);
    // costmap_2d::Costmap2DROS local_costmap_node("local_costmap", buffer);
    // costmap_2d::Costmap2DROS global_costmap_node("global_costmap", buffer);

    auto local_costmap = boost::make_shared<costmap_2d::Costmap2DROS>("local_costmap", buffer);
    auto global_costmap = boost::make_shared<costmap_2d::Costmap2DROS>("global_costmap", buffer);

    ros::spin();
    common::glog::shutdown();
    return (0);
}